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docs(env_processor): rename step 2 and fix policy_cfg examples

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- Rename '### 2. Update the Factory' → '### 2. Update Your EnvConfig Subclass'
- Update factory usage examples to use keyword-argument style with
  policy_cfg parameter for both SmolVLA and ACT cases

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-08 15:53:03 +02:00
parent 0ae8b8c015
commit 1136ba4932
1 changed files with 2 additions and 18 deletions
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docs/source/env_processor.mdx
+2 -18
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@@ -316,24 +316,6 @@ class MyEnvProcessorStep(ObservationProcessorStep):
return processed return processed
``` ```
### 2. Update the Factory
```python
# In src/lerobot/envs/configs.py
@EnvConfig.register_subclass("myenv")
@dataclass
class MyEnvConfig(EnvConfig):
# ... task/features/gym kwargs ...
def get_env_processors(self):
from lerobot.processor.pipeline import PolicyProcessorPipeline
return (
PolicyProcessorPipeline(steps=[MyEnvProcessorStep()]),
PolicyProcessorPipeline(steps=[]),
)
```
### 2. Update Your `EnvConfig` Subclass ### 2. Update Your `EnvConfig` Subclass
```python ```python
@@ -342,8 +324,10 @@ class MyEnvConfig(EnvConfig):
@dataclass @dataclass
class MyEnvConfig(EnvConfig): class MyEnvConfig(EnvConfig):
# ... task/features/gym kwargs ... # ... task/features/gym kwargs ...
def get_env_processors(self): def get_env_processors(self):
from lerobot.processor.pipeline import PolicyProcessorPipeline from lerobot.processor.pipeline import PolicyProcessorPipeline
return ( return (
PolicyProcessorPipeline(steps=[MyEnvProcessorStep()]), PolicyProcessorPipeline(steps=[MyEnvProcessorStep()]),
PolicyProcessorPipeline(steps=[]), PolicyProcessorPipeline(steps=[]),